function model=CreateModel1()
n=30;
 load('TerrainData.mat');
    H = Final_Data/30;
    clear Final_Data
    MAPSIZE_X = size(H,2); % x index: columns of H
MAPSIZE_Y = size(H,1); % y index: rows of H
[X,Y] = meshgrid(1:MAPSIZE_X,1:MAPSIZE_Y);

     % R1=30;  % Radius
     %    x1 = 300; y1 = 300; z1 = 100; % center
     % 
     %    R2=20;  % Radius
     %    x2 = 200; y2 = 100; z2 = 100; % center
     % 
     %    R3=30;  % Radius
     %    x3 = 100; y3 = 200; z3 = 100; % center
     % 
     %    R4=20;  % Radius
     %    x4 = 300; y4 = 100; z4 = 100; % center
     % 
     %    R5=20;  % Radius
     %    x5 = 200; y5 = 50; z5 = 100; % center
     % 
     %    R6=30;  % Radius
     %    x6 = 150; y6 = 350; z6 = 100; % center
     %    threats = [x1 y1 z1 R1;x2 y2 z2 R2; x3 y3 z3 R3; x4 y4 z4 R4; x5 y5 z5 R5;x6 y6 z6 R6];
R1=30;  % Radius
x1 = 310; y1 = 283; z1 = 227; % center
R2=40;  % Radius
 x2 = 280; y2 = 200; z2 = 150; % center
    
R3=45;  % Radius
x3 = 130; y3 = 157; z3 = 130; % center
    
R4=23;  % Radius
x4 = 220; y4 = 250; z4 = 140; % center
    
R5=28;  % Radius
x5 = 200; y5 = 325; z5 = 266; % center
R6=30;  % Radius
x6 = 321; y6 = 107; z6 = 50; % center
threats = [x1 y1 z1 R1;x2 y2 z2 R2; x3 y3 z3 R3; x4 y4 z4 R4; x5 y5 z5 R5;x6 y6 z6 R6];

xmin= 1;
xmax= MAPSIZE_X;
ymin= 1;
ymax= MAPSIZE_Y;
zmin = 100;
zmax = 200;

startPos = [10 10 200];
goalPos = [400 400 150];

% 参数整定到model方便管理
model.start=startPos;
model.end=goalPos;
model.n=n;
model.xmin=xmin;
model.xmax=xmax;
model.zmin=zmin;
model.ymin=ymin;
model.ymax=ymax;
model.zmax=zmax;
model.MAPSIZE_X = MAPSIZE_X;
model.MAPSIZE_Y = MAPSIZE_Y;
model.X = X;
model.Y = Y;
model.H = H;
model.threats = threats;


PlotModel(model);
end
